whole body controller with hierarchical optimization

[EricWang1hitsz]

Thanks for your great code! I finished the motion plan using towr and tracked the motion with balance controller. But I want to track them using WBC controller, is the code open?

[awinkler]

Thanks! No, unfortunately that code is not open-source, since it's more dependent on the specific robot and software stack being used. Not so easy to separate out, you'll have to write your own. Sorry about that.